Update ceres to the latest version in g3android-wear-5.0.0_r1android-cts-5.1_r9android-cts-5.1_r8android-cts-5.1_r7android-cts-5.1_r6android-cts-5.1_r5android-cts-5.1_r4android-cts-5.1_r3android-cts-5.1_r28android-cts-5.1_r27android-cts-5.1_r26android-cts-5.1_r25android-cts-5.1_r24android-cts-5.1_r23android-cts-5.1_r22android-cts-5.1_r21android-cts-5.1_r20android-cts-5.1_r2android-cts-5.1_r19android-cts-5.1_r18android-cts-5.1_r17android-cts-5.1_r16android-cts-5.1_r15android-cts-5.1_r14android-cts-5.1_r13android-cts-5.1_r10android-cts-5.1_r1android-cts-5.0_r9android-cts-5.0_r8android-cts-5.0_r7android-cts-5.0_r6android-cts-5.0_r5android-cts-5.0_r4android-cts-5.0_r3android-5.1.1_r9android-5.1.1_r8android-5.1.1_r7android-5.1.1_r6android-5.1.1_r5android-5.1.1_r4android-5.1.1_r38android-5.1.1_r37android-5.1.1_r36android-5.1.1_r35android-5.1.1_r34android-5.1.1_r33android-5.1.1_r30android-5.1.1_r3android-5.1.1_r29android-5.1.1_r28android-5.1.1_r26android-5.1.1_r25android-5.1.1_r24android-5.1.1_r23android-5.1.1_r22android-5.1.1_r20android-5.1.1_r2android-5.1.1_r19android-5.1.1_r18android-5.1.1_r17android-5.1.1_r16android-5.1.1_r15android-5.1.1_r14android-5.1.1_r13android-5.1.1_r12android-5.1.1_r10android-5.1.1_r1android-5.1.0_r5android-5.1.0_r4android-5.1.0_r3android-5.1.0_r1android-5.0.2_r3android-5.0.2_r1android-5.0.1_r1android-5.0.0_r7android-5.0.0_r6android-5.0.0_r5.1android-5.0.0_r5android-5.0.0_r4android-5.0.0_r3android-5.0.0_r2android-5.0.0_r1lollipop-wear-releaselollipop-releaselollipop-mr1-wfc-releaselollipop-mr1-releaselollipop-mr1-fi-releaselollipop-mr1-devlollipop-mr1-cts-releaselollipop-devlollipop-cts-release

Please pay special attention to the changes in Android.mk.
They are the only real changes I had to make.

Bug: 16953678

Change-Id: I44a644358e779aaff99a2ea822387fe49ac26888

1 files changed, 24 insertions, 7 deletions

diff --git a/internal/ceres/schur_complement_solver.h b/internal/ceres/schur_complement_solver.h
index b5a1c74..723b149 100644
--- a/internal/ceres/schur_complement_solver.h
+++ b/internal/ceres/schur_complement_solver.h
@@ -35,6 +35,8 @@
 #include <utility>
 #include <vector>
 
+#include "ceres/internal/port.h"
+
 #include "ceres/block_random_access_matrix.h"
 #include "ceres/block_sparse_matrix.h"
 #include "ceres/block_structure.h"
@@ -45,6 +47,10 @@
 #include "ceres/internal/scoped_ptr.h"
 #include "ceres/types.h"
 
+#ifdef CERES_USE_EIGEN_SPARSE
+#include "Eigen/SparseCholesky"
+#endif
+
 namespace ceres {
 namespace internal {
 
@@ -126,7 +132,8 @@ class SchurComplementSolver : public BlockSparseMatrixSolver {
 
  private:
   virtual void InitStorage(const CompressedRowBlockStructure* bs) = 0;
-  virtual bool SolveReducedLinearSystem(double* solution) = 0;
+  virtual LinearSolver::Summary SolveReducedLinearSystem(
+      double* solution) = 0;
 
   LinearSolver::Options options_;
 
@@ -146,12 +153,12 @@ class DenseSchurComplementSolver : public SchurComplementSolver {
 
  private:
   virtual void InitStorage(const CompressedRowBlockStructure* bs);
-  virtual bool SolveReducedLinearSystem(double* solution);
+  virtual LinearSolver::Summary SolveReducedLinearSystem(
+      double* solution);
 
   CERES_DISALLOW_COPY_AND_ASSIGN(DenseSchurComplementSolver);
 };
 
-#if !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARE)
 // Sparse Cholesky factorization based solver.
 class SparseSchurComplementSolver : public SchurComplementSolver {
  public:
@@ -160,9 +167,14 @@ class SparseSchurComplementSolver : public SchurComplementSolver {
 
  private:
   virtual void InitStorage(const CompressedRowBlockStructure* bs);
-  virtual bool SolveReducedLinearSystem(double* solution);
-  bool SolveReducedLinearSystemUsingSuiteSparse(double* solution);
-  bool SolveReducedLinearSystemUsingCXSparse(double* solution);
+  virtual LinearSolver::Summary SolveReducedLinearSystem(
+      double* solution);
+  LinearSolver::Summary SolveReducedLinearSystemUsingSuiteSparse(
+      double* solution);
+  LinearSolver::Summary SolveReducedLinearSystemUsingCXSparse(
+      double* solution);
+  LinearSolver::Summary SolveReducedLinearSystemUsingEigen(
+      double* solution);
 
   // Size of the blocks in the Schur complement.
   vector<int> blocks_;
@@ -175,10 +187,15 @@ class SparseSchurComplementSolver : public SchurComplementSolver {
   CXSparse cxsparse_;
   // Cached factorization
   cs_dis* cxsparse_factor_;
+
+#ifdef CERES_USE_EIGEN_SPARSE
+  typedef Eigen::SimplicialLDLT<Eigen::SparseMatrix<double> > SimplicialLDLT;
+  scoped_ptr<SimplicialLDLT> simplicial_ldlt_;
+#endif
+
   CERES_DISALLOW_COPY_AND_ASSIGN(SparseSchurComplementSolver);
 };
 
-#endif  // !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARE)
 }  // namespace internal
 }  // namespace ceres